| { |
| "task_name": "sorting vegetables", |
| "data_folder": "", |
| "meta_data": { |
| "task_duration": 11547, |
| "valid_duration": [0, 11547] |
| }, |
| "skill_annotation": [ |
| { |
| "skill_idx": 0, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["wicker_basket_220"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 285], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 1, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["wicker_basket_220", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_220"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [285, 1158], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 2, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_224"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [[1158, 1236], [1432, 1510]], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 3, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["broccoli_209", "wicker_basket_220"]], |
| "manipulating_object_id": ["broccoli_209"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1236, 1432], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 4, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["broccoli_209", "mixing_bowl_224"]], |
| "manipulating_object_id": ["broccoli_209"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [1510, 1605], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 5, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["broccoli_210", "wicker_basket_220"]], |
| "manipulating_object_id": ["broccoli_210"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [1605, 2000], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 6, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_224"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2000, 2075], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 7, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["broccoli_210", "mixing_bowl_224"]], |
| "manipulating_object_id": ["broccoli_210"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2075, 2171], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 8, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["vidalia_onion_216", "wicker_basket_220"]], |
| "manipulating_object_id": ["vidalia_onion_216"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2171, 2457], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 9, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["vidalia_onion_216", "mixing_bowl_222"]], |
| "manipulating_object_id": ["vidalia_onion_216"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2457, 2569], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 10, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["vidalia_onion_214", "wicker_basket_220"]], |
| "manipulating_object_id": ["vidalia_onion_214"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [2569, 2744], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 11, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["vidalia_onion_214", "mixing_bowl_222"]], |
| "manipulating_object_id": ["vidalia_onion_214"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2744, 2862], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 12, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["vidalia_onion_215", "wicker_basket_220"]], |
| "manipulating_object_id": ["vidalia_onion_215"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [2862, 3087], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 13, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["vidalia_onion_215", "mixing_bowl_222"]], |
| "manipulating_object_id": ["vidalia_onion_215"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3087, 3202], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 14, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["leek_208", "wicker_basket_220"]], |
| "manipulating_object_id": ["leek_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3202, 3518], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 15, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_224"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [3518, 3595], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 16, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["leek_208", "mixing_bowl_224"]], |
| "manipulating_object_id": ["leek_208"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3595, 3672], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 17, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["leek_207", "wicker_basket_220"]], |
| "manipulating_object_id": ["leek_207"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [3672, 3965], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 18, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_224"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [3965, 4049], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 19, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["leek_207", "mixing_bowl_224"]], |
| "manipulating_object_id": ["leek_207"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4049, 4174], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 20, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["floors_kxcpgy_0"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4174, 4607], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 21, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["wicker_basket_220", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_220"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4607, 5229], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 22, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["wicker_basket_221"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [5229, 6618], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 23, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["wicker_basket_221", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_221"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [6618, 7414], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 24, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_222"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [[7414, 8238], [8377, 8464]], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 25, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bok_choy_219", "wicker_basket_221"]], |
| "manipulating_object_id": ["bok_choy_219"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8238, 8377], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 26, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["bok_choy_219", "mixing_bowl_222"]], |
| "manipulating_object_id": ["bok_choy_219"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8464, 8642], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 27, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bok_choy_218", "wicker_basket_221"]], |
| "manipulating_object_id": ["bok_choy_218"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [8642, 8807], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 28, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_222"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8807, 8889], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 29, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["bok_choy_218", "mixing_bowl_222"]], |
| "manipulating_object_id": ["bok_choy_218"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [8889, 9033], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 30, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["bok_choy_217", "wicker_basket_221"]], |
| "manipulating_object_id": ["bok_choy_217"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [9033, 9327], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 31, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_222"]], |
| "manipulating_object_id": [], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9327, 9432], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 32, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["bok_choy_217", "mixing_bowl_222"]], |
| "manipulating_object_id": ["bok_choy_217"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9432, 9596], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 33, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["sweet_corn_212", "wicker_basket_221"]], |
| "manipulating_object_id": ["sweet_corn_212"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9596, 9934], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 34, |
| "skill_id": [1], |
| "skill_description": ["move to"], |
| "object_id": [["mixing_bowl_223"]], |
| "manipulating_object_id": [], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [9934, 10067], |
| "mp_ef": [], |
| "skill_type": ["navigation"] |
| }, |
| { |
| "skill_idx": 35, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["sweet_corn_212", "mixing_bowl_223"]], |
| "manipulating_object_id": ["sweet_corn_212"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10067, 10241], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 36, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["sweet_corn_213", "wicker_basket_221"]], |
| "manipulating_object_id": ["sweet_corn_213"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [10241, 10499], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 37, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["sweet_corn_213", "mixing_bowl_223"]], |
| "manipulating_object_id": ["sweet_corn_213"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10499, 10642], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 38, |
| "skill_id": [2], |
| "skill_description": ["pick up from"], |
| "object_id": [["sweet_corn_211", "wicker_basket_221"]], |
| "manipulating_object_id": ["sweet_corn_211"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [10642, 10848], |
| "mp_ef": [], |
| "skill_type": ["coordinated"] |
| }, |
| { |
| "skill_idx": 39, |
| "skill_id": [4], |
| "skill_description": ["place in"], |
| "object_id": [["sweet_corn_211", "mixing_bowl_223"]], |
| "manipulating_object_id": ["sweet_corn_211"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10848, 10974], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| }, |
| { |
| "skill_idx": 40, |
| "skill_id": [3], |
| "skill_description": ["place on"], |
| "object_id": [["wicker_basket_221", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_221"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10974, 11547], |
| "mp_ef": [], |
| "skill_type": ["uncoordinated"] |
| } |
| ], |
| "primitive_annotation": [ |
| { |
| "primitive_idx": 0, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["wicker_basket_220", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_220"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [0, 1158], |
| "skill_idxes": [0, 1] |
| }, |
| { |
| "primitive_idx": 1, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [[["broccoli_209", "broccoli_210", "leek_208", "leek_207"], "wicker_basket_220"], [["broccoli_209", "broccoli_210", "leek_208", "leek_207"], "mixing_bowl_224"]], |
| "manipulating_object_id": [["broccoli_209", "broccoli_210", "leek_208", "leek_207"], ["broccoli_209", "broccoli_210", "leek_208", "leek_207"]], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [[1158, 1236], 4174], |
| "skill_idxes": [2, 3, 4, 5, 6, 7, 14, 15, 16, 17, 18, 19] |
| }, |
| { |
| "primitive_idx": 2, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [[["vidalia_onion_216", "vidalia_onion_214", "vidalia_onion_215"], "wicker_basket_220"], [["vidalia_onion_216", "vidalia_onion_214", "vidalia_onion_215"], "mixing_bowl_222"]], |
| "manipulating_object_id": [["vidalia_onion_216", "vidalia_onion_214", "vidalia_onion_215"], ["vidalia_onion_216", "vidalia_onion_214", "vidalia_onion_215"]], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [2171, 3202], |
| "skill_idxes": [8, 9, 10, 11, 12, 13] |
| }, |
| { |
| "primitive_idx": 3, |
| "primitive_id": [3], |
| "primitive_description": ["place on"], |
| "object_id": [["wicker_basket_220", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_220"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [4174, 5229], |
| "skill_idxes": [20, 21] |
| }, |
| { |
| "primitive_idx": 4, |
| "primitive_id": [2], |
| "primitive_description": ["pick up from"], |
| "object_id": [["wicker_basket_221", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_221"], |
| "memory_prefix": ["the other"], |
| "spatial_prefix": [], |
| "frame_duration": [5229, 7414], |
| "skill_idxes": [22, 23] |
| }, |
| { |
| "primitive_idx": 5, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [[["bok_choy_219", "bok_choy_218", "bok_choy_217"], "wicker_basket_221"], [["bok_choy_219", "bok_choy_218", "bok_choy_217"], "mixing_bowl_222"]], |
| "manipulating_object_id": [["bok_choy_219", "bok_choy_218", "bok_choy_217"], ["bok_choy_219", "bok_choy_218", "bok_choy_217"]], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [[7414, 8238], 9596], |
| "skill_idxes": [24, 25, 26, 27, 28, 29, 30, 31, 32] |
| }, |
| { |
| "primitive_idx": 6, |
| "primitive_id": [2, 4], |
| "primitive_description": ["pick up from", "place in"], |
| "object_id": [[["sweet_corn_212", "sweet_corn_213", "sweet_corn_211"], "wicker_basket_221"], [["sweet_corn_212", "sweet_corn_213", "sweet_corn_211"], "mixing_bowl_223"]], |
| "manipulating_object_id": [["sweet_corn_212", "sweet_corn_213", "sweet_corn_211"], ["sweet_corn_212", "sweet_corn_213", "sweet_corn_211"]], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [9596, 10974], |
| "skill_idxes": [33, 34, 35, 36, 37, 38, 39] |
| }, |
| { |
| "primitive_idx": 7, |
| "primitive_id": [3], |
| "primitive_description": ["place on"], |
| "object_id": [["wicker_basket_221", "floors_kxcpgy_0"]], |
| "manipulating_object_id": ["wicker_basket_221"], |
| "memory_prefix": [], |
| "spatial_prefix": [], |
| "frame_duration": [10974, 11547], |
| "skill_idxes": [40] |
| } |
| ] |
| } |
